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The linkage mechanism depicted above on the left generates a gait that can be modified by adjusting the distance between the prismatic joint and the grounded rotary joint. The top row displays three legs with a short step, while the bottom row shows three legs with a long step. In both cases, the center leg is phased 180 degrees apart from the outer legs. A similar mechanism is expected to meet the performance objectives of the robot. The image on the right proposes an alternative design to achieve a flat bottom of the gait path. This mechanism has a large dependence on prismatic joints, which is not ideal. This is just to show that we are considering more mechanism designs.